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fix: Correct CAN RX interrupt to handle extended IDs and remove CAN filters 

- Fixed the MCAL layer of CAN where RX interrupts were discarding extended IDs and only processing standard IDs.
- Removed CAN filters from the CAN configuration to allow better reception of all messages.
stable
Rakshitavecmocon 2024-10-15 21:15:22 +05:30
parent 9599f1630c
commit c9482f46bb
2 changed files with 33 additions and 37 deletions
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67
Core/Source/ivec_mcal_mcan.c
View File

@ -63,10 +63,14 @@ static DL_MCAN_ConfigParams gMCAN0ConfigParams={
.timeoutSelect = DL_MCAN_TIMEOUT_SELECT_CONT, .timeoutSelect = DL_MCAN_TIMEOUT_SELECT_CONT,
.timeoutPreload = 65535, .timeoutPreload = 65535,
.timeoutCntEnable = false, .timeoutCntEnable = false,
.filterConfig.rrfs = true, .filterConfig.rrfs = false,
.filterConfig.rrfe = true, .filterConfig.rrfe = false,
.filterConfig.anfe = 1, .filterConfig.anfe = 0,
.filterConfig.anfs = 1, .filterConfig.anfs = 0,
// .filterConfig.rrfs = true,
// .filterConfig.rrfe = true,
// .filterConfig.anfe = 1,
// .filterConfig.anfs = 1,
}; };
@ -120,20 +124,23 @@ static DL_MCAN_MsgRAMConfigParams gMCAN0MsgRAMConfigParams ={
.rxFIFO1ElemSize = DL_MCAN_ELEM_SIZE_8BYTES, .rxFIFO1ElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
}; };
static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem = { //static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem = {
.sfec = 0x1, // Store in Rx FIFO 0 if filter matches // .sfec = 0x1, // Store in Rx FIFO 0 if filter matches
.sft = 0x11, // Disable filter, receive all IDs // .sft = 0x11, // Disable filter, receive all IDs
.sfid1 = 0, // These values won't be used because filtering is disabled // .sfid1 = 0, // These values won't be used because filtering is disabled
.sfid2 = 0, // These values won't be used because filtering is disabled // .sfid2 = 0, // These values won't be used because filtering is disabled
}; //};
//
//// Static filter element definition to disable filtering
//static const DL_MCAN_ExtMsgIDFilterElement gMCAN0ExtFilterElem = {
// .efid1 = 0, // These values won't be used because filtering is disabled
// .efec = 0x0, // Disable filter element (0b000)
// .efid2 = 0xffffffff, // These values won't be used because filtering is disabled
// .eft = 0x3, // Set to 0b11 for disabling filtering (no specific filter applied)
//};
// Static filter element definition to disable filtering
static const DL_MCAN_ExtMsgIDFilterElement gMCAN0ExtFilterElem = {
.efid1 = 0, // These values won't be used because filtering is disabled
.efec = 0x0, // Disable filter element (0b000)
.efid2 = 0, // These values won't be used because filtering is disabled
.eft = 0x3, // Set to 0b11 for disabling filtering (no specific filter applied)
};
static DL_MCAN_BitTimingParams gMCAN0BitTimes_500 = { static DL_MCAN_BitTimingParams gMCAN0BitTimes_500 = {
/* Arbitration Baud Rate Pre-scaler. */ /* Arbitration Baud Rate Pre-scaler. */
@ -342,19 +349,16 @@ void CANFD0_IRQHandler(void)
} }
} }
// DL_MCAN_readMsgRam(CANFD0, DL_MCAN_MEM_TYPE_FIFO, 0, rxFS.num, &TempRxMsg);
// DL_MCAN_writeRxFIFOAck(CANFD0, rxFS.num, rxFS.getIdx);
xCanIdType_t idType = ERROR; xCanIdType_t idType = ERROR;
if (TempRxMsg.id >= 0 && TempRxMsg.id <= 0x7FF) uint64_t idx = 0;
idx = TempRxMsg.id;
uint32_t value = ((TempRxMsg.id & (uint32_t) 0x1FFC0000) >> (uint32_t) 18);
if ((value > 0) && (value <= 0x7FF))
{ {
idType = STD_ID; idType = STD_ID;
} else if (TempRxMsg.id <= 0x1FFFFFFF) idx = value;
{
idType = EXT_ID;
} }
uint32_t idx = ((TempRxMsg.id & (uint32_t) 0x1FFC0000) >> (uint32_t) 18);
if(idx) if(idx)
{ {
@ -366,13 +370,6 @@ void CANFD0_IRQHandler(void)
} }
b_ServiceInt = true; b_ServiceInt = true;
// if (rxFS.fifoFull) {
// printf("rx fifo fill\n");
// DL_MCAN_clearNewDataStatus(CANFD0, &statusLow); // Pass the proper structure
// }
//DL_MCAN_clearIntrStatus(CANFD0, IntrStatus,DL_MCAN_INTR_SRC_MCAN_LINE_1);
// }
// else{
DL_MCAN_getIntrStatus(CANFD0); DL_MCAN_getIntrStatus(CANFD0);
DL_MCAN_clearIntrStatus(CANFD0, IntrStatus,DL_MCAN_INTR_SRC_MCAN_LINE_1); DL_MCAN_clearIntrStatus(CANFD0, IntrStatus,DL_MCAN_INTR_SRC_MCAN_LINE_1);
} }
@ -442,8 +439,10 @@ IVEC_McalStatus_e xMCAL_MCANInit(MCAN_Regs* MCAN, xCAN_baud_t BAUD)
/* Configure Message RAM Sections */ /* Configure Message RAM Sections */
DL_MCAN_msgRAMConfig(MCAN, (DL_MCAN_MsgRAMConfigParams*) &gMCAN0MsgRAMConfigParams); DL_MCAN_msgRAMConfig(MCAN, (DL_MCAN_MsgRAMConfigParams*) &gMCAN0MsgRAMConfigParams);
/* Configure Standard ID filter element */ // /* Configure Standard ID filter element */
DL_MCAN_addStdMsgIDFilter(MCAN, 0U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem); // DL_MCAN_addStdMsgIDFilter(MCAN, 0U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem);
//
// DL_MCAN_addExtMsgIDFilter(MCAN, 0U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0ExtFilterElem);
/* Set Extended ID Mask. */ /* Set Extended ID Mask. */

3
main.c
View File

@ -170,12 +170,9 @@ void CANDataProcess()
int main(void) int main(void)
{ {
xMCAL_McuInit(); xMCAL_McuInit();
printf("hii\n");
xMCAL_SYSCTL_INIT(HFXT,STANDBY0); xMCAL_SYSCTL_INIT(HFXT,STANDBY0);
xMCAL_SYSTICK_INIT(Period_1ms); xMCAL_SYSTICK_INIT(Period_1ms);
// Initialize the timer with the desired timeout value
//xMCAL_TimerInit(TIMG0); // Initialize your timer instance (e.g., TIMG0)
xECU_UARTInit(&prvUartHandle); xECU_UARTInit(&prvUartHandle);
xECU_CANInit(CANFD0,BAUD_500); xECU_CANInit(CANFD0,BAUD_500);